INVT Goodrive350 Series Operation Manual page 32

Communication extension card
Response codes indicating successful reading vary according to the character length of items
in the object dictionary, and the response code indicating successful writing are 0×60. The
response codes indicating reading failure and writing failure are both 0x80. See Table 3-9.
Request Request
code type code
0x23
Write 0x2B
0x2F
Read 0x40
Response Response
code type code
Read 0x4B
0x4F
Write
Read/write
Note: The symbol "-" in Table 3-8 and Table 3-9 indicates that the byte is reserved and
provides no function.
Table 3-10 describes the interruption error codes.
Interruption code
0503 0000
0504 0000
0504 0001
0504 0002
0504 0003
0504 0004
0504 0005
0601 0000
0601 0001
0601 0002
0602 0000
0604 0041
0604 0042
Table 3-8 SDO request codes and requested data
Command
description
Writes 4-byte data
Writes 2-byte data
Writes 1-byte data
Reads data
Table 3-9 SDO response codes and response data
Command
description
0x43 Reads 4-byte data
Reads 2-byte data
Reads 1-byte data
0x60 Writing succeeds
Reading/writing
0x80
fails
Table 3-10 Interruption error codes
Triggering bit not alternated
SDO protocol times out
Invalid or unknown client/server
Invalid block size
Invalid sequence number
CRC error
Memory overflow
No access to the object
Attempts to read a write-only object
Attempts to write information to a read-only object
Object cannot be found in the object dictionary
Object cannot be mapped to PDO
Number and length of the object to be mapped exceeds the PDO
Requested data
Byte4 Byte5
bit7-0 bit15-8
bit7-0 bit15-8
bit7-0
-
Byte4
bit7-0 bit15-8
bit7-0 bit15-8
bit7-0
-
Interruption error code
bit7-0 bit15-8
Code function description
-27-
CANopen communication card
Byte6
bit23-16
-
- -
- -
Response data
Byte5 Byte6
bit23-16
-
- -
- -
bit23-16
Byte7
bit31-24
-
-
-
Byte7
bit31-24
-
-
-
bit31-24